Rename parameters (50%)
Rename parameters (bug fix)
update tunning parameters
Energy functions validation

This is different :
Jacobian_smoothcost_openmp_critical_section
These two are the same:
Jacobian_smoothcost_openmp
Jacobian_smoothcost
critical section smooth cost bug fix
Profiling with Vtune
comparing (J.t()*J).diag() and Identity matrix

using (J.t()*J).diag()  will result in spliting
[Important] paralleling sparsematrix multiply
parallelizing datacost